diff options
Diffstat (limited to 'Opcode/OpcodeLib/OPC_AABBCollider.cpp')
| -rw-r--r-- | Opcode/OpcodeLib/OPC_AABBCollider.cpp | 696 |
1 files changed, 0 insertions, 696 deletions
diff --git a/Opcode/OpcodeLib/OPC_AABBCollider.cpp b/Opcode/OpcodeLib/OPC_AABBCollider.cpp deleted file mode 100644 index fe87d24..0000000 --- a/Opcode/OpcodeLib/OPC_AABBCollider.cpp +++ /dev/null @@ -1,696 +0,0 @@ -///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for an AABB collider.
- * \file OPC_AABBCollider.cpp
- * \author Pierre Terdiman
- * \date January, 1st, 2002
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains an AABB-vs-tree collider.
- *
- * \class AABBCollider
- * \author Pierre Terdiman
- * \version 1.3
- * \date January, 1st, 2002
-*/
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Precompiled Header
-#include "Stdafx.h"
-
-using namespace Opcode;
-
-#include "OPC_BoxBoxOverlap.h"
-#include "OPC_TriBoxOverlap.h"
-
-#define SET_CONTACT(prim_index, flag) \
- /* Set contact status */ \
- mFlags |= flag; \
- mTouchedPrimitives->Add(prim_index);
-
-//! AABB-triangle test
-#define AABB_PRIM(prim_index, flag) \
- /* Request vertices from the app */ \
- VertexPointers VP; mIMesh->GetTriangle(VP, prim_index);\
- mLeafVerts[0] = *VP.Vertex[0]; \
- mLeafVerts[1] = *VP.Vertex[1]; \
- mLeafVerts[2] = *VP.Vertex[2]; \
- /* Perform triangle-box overlap test */ \
- if(TriBoxOverlap()) \
- { \
- SET_CONTACT(prim_index, flag) \
- }
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Constructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-AABBCollider::AABBCollider()
-{
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Destructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-AABBCollider::~AABBCollider()
-{
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Generic collision query for generic OPCODE models. After the call, access the results:
- * - with GetContactStatus()
- * - with GetNbTouchedPrimitives()
- * - with GetTouchedPrimitives()
- *
- * \param cache [in/out] a box cache
- * \param box [in] collision AABB in world space
- * \param model [in] Opcode model to collide with
- * \return true if success
- * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool AABBCollider::Collide(AABBCache& cache, const CollisionAABB& box, const Model& model)
-{
- // Checkings
- if(!Setup(&model)) return false;
-
- // Init collision query
- if(InitQuery(cache, box)) return true;
-
- if(!model.HasLeafNodes())
- {
- if(model.IsQuantized())
- {
- const AABBQuantizedNoLeafTree* Tree = (const AABBQuantizedNoLeafTree*)model.GetTree();
-
- // Setup dequantization coeffs
- mCenterCoeff = Tree->mCenterCoeff;
- mExtentsCoeff = Tree->mExtentsCoeff;
-
- // Perform collision query
- if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes());
- else _Collide(Tree->GetNodes());
- }
- else
- {
- const AABBNoLeafTree* Tree = (const AABBNoLeafTree*)model.GetTree();
-
- // Perform collision query
- if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes());
- else _Collide(Tree->GetNodes());
- }
- }
- else
- {
- if(model.IsQuantized())
- {
- const AABBQuantizedTree* Tree = (const AABBQuantizedTree*)model.GetTree();
-
- // Setup dequantization coeffs
- mCenterCoeff = Tree->mCenterCoeff;
- mExtentsCoeff = Tree->mExtentsCoeff;
-
- // Perform collision query
- if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes());
- else _Collide(Tree->GetNodes());
- }
- else
- {
- const AABBCollisionTree* Tree = (const AABBCollisionTree*)model.GetTree();
-
- // Perform collision query
- if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes());
- else _Collide(Tree->GetNodes());
- }
- }
- return true;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Initializes a collision query :
- * - reset stats & contact status
- * - check temporal coherence
- *
- * \param cache [in/out] a box cache
- * \param box [in] AABB in world space
- * \return TRUE if we can return immediately
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-BOOL AABBCollider::InitQuery(AABBCache& cache, const CollisionAABB& box)
-{
- // 1) Call the base method
- VolumeCollider::InitQuery();
-
- // 2) Keep track of the query box
- mBox = box;
-
- // 3) Setup destination pointer
- mTouchedPrimitives = &cache.TouchedPrimitives;
-
- // 4) Special case: 1-triangle meshes [Opcode 1.3]
- if(mCurrentModel && mCurrentModel->HasSingleNode())
- {
- if(!SkipPrimitiveTests())
- {
- // We simply perform the BV-Prim overlap test each time. We assume single triangle has index 0.
- mTouchedPrimitives->Reset();
-
- // Perform overlap test between the unique triangle and the box (and set contact status if needed)
- AABB_PRIM(udword(0), OPC_CONTACT)
-
- // Return immediately regardless of status
- return TRUE;
- }
- }
-
- // 5) Check temporal coherence :
- if(TemporalCoherenceEnabled())
- {
- // Here we use temporal coherence
- // => check results from previous frame before performing the collision query
- if(FirstContactEnabled())
- {
- // We're only interested in the first contact found => test the unique previously touched face
- if(mTouchedPrimitives->GetNbEntries())
- {
- // Get index of previously touched face = the first entry in the array
- udword PreviouslyTouchedFace = mTouchedPrimitives->GetEntry(0);
-
- // Then reset the array:
- // - if the overlap test below is successful, the index we'll get added back anyway
- // - if it isn't, then the array should be reset anyway for the normal query
- mTouchedPrimitives->Reset();
-
- // Perform overlap test between the cached triangle and the box (and set contact status if needed)
- AABB_PRIM(PreviouslyTouchedFace, OPC_TEMPORAL_CONTACT)
-
- // Return immediately if possible
- if(GetContactStatus()) return TRUE;
- }
- // else no face has been touched during previous query
- // => we'll have to perform a normal query
- }
- else
- {
- // We're interested in all contacts =>test the new real box N(ew) against the previous fat box P(revious):
- if(IsCacheValid(cache) && mBox.IsInside(cache.FatBox))
- {
- // - if N is included in P, return previous list
- // => we simply leave the list (mTouchedFaces) unchanged
-
- // Set contact status if needed
- if(mTouchedPrimitives->GetNbEntries()) mFlags |= OPC_TEMPORAL_CONTACT;
-
- // In any case we don't need to do a query
- return TRUE;
- }
- else
- {
- // - else do the query using a fat N
-
- // Reset cache since we'll about to perform a real query
- mTouchedPrimitives->Reset();
-
- // Make a fat box so that coherence will work for subsequent frames
- mBox.mExtents *= cache.FatCoeff;
-
- // Update cache with query data (signature for cached faces)
- cache.FatBox = mBox;
- }
- }
- }
- else
- {
- // Here we don't use temporal coherence => do a normal query
- mTouchedPrimitives->Reset();
- }
-
- // 5) Precompute min & max bounds if needed
- mMin = box.mCenter - box.mExtents;
- mMax = box.mCenter + box.mExtents;
-
- return FALSE;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Collision query for vanilla AABB trees.
- * \param cache [in/out] a box cache
- * \param box [in] collision AABB in world space
- * \param tree [in] AABB tree
- * \return true if success
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool AABBCollider::Collide(AABBCache& cache, const CollisionAABB& box, const AABBTree* tree)
-{
- // This is typically called for a scene tree, full of -AABBs-, not full of triangles.
- // So we don't really have "primitives" to deal with. Hence it doesn't work with
- // "FirstContact" + "TemporalCoherence".
- ASSERT( !(FirstContactEnabled() && TemporalCoherenceEnabled()) );
-
- // Checkings
- if(!tree) return false;
-
- // Init collision query
- if(InitQuery(cache, box)) return true;
-
- // Perform collision query
- _Collide(tree);
-
- return true;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Checks the AABB completely contains the box. In which case we can end the query sooner.
- * \param bc [in] box center
- * \param be [in] box extents
- * \return true if the AABB contains the whole box
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-inline_ BOOL AABBCollider::AABBContainsBox(const IcePoint& bc, const IcePoint& be)
-{
- if(mMin.x > bc.x - be.x) return FALSE;
- if(mMin.y > bc.y - be.y) return FALSE;
- if(mMin.z > bc.z - be.z) return FALSE;
-
- if(mMax.x < bc.x + be.x) return FALSE;
- if(mMax.y < bc.y + be.y) return FALSE;
- if(mMax.z < bc.z + be.z) return FALSE;
-
- return TRUE;
-}
-
-#define TEST_BOX_IN_AABB(center, extents) \
- if(AABBContainsBox(center, extents)) \
- { \
- /* Set contact status */ \
- mFlags |= OPC_CONTACT; \
- _Dump(node); \
- return; \
- }
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Recursive collision query for normal AABB trees.
- * \param node [in] current collision node
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void AABBCollider::_Collide(const AABBCollisionNode* node)
-{
- // Perform AABB-AABB overlap test
- if(!AABBAABBOverlap(node->mAABB.mExtents, node->mAABB.mCenter)) return;
-
- TEST_BOX_IN_AABB(node->mAABB.mCenter, node->mAABB.mExtents)
-
- if(node->IsLeaf())
- {
- AABB_PRIM(node->GetPrimitive(), OPC_CONTACT)
- }
- else
- {
- _Collide(node->GetPos());
-
- if(ContactFound()) return;
-
- _Collide(node->GetNeg());
- }
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Recursive collision query for normal AABB trees, without primitive tests.
- * \param node [in] current collision node
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void AABBCollider::_CollideNoPrimitiveTest(const AABBCollisionNode* node)
-{
- // Perform AABB-AABB overlap test
- if(!AABBAABBOverlap(node->mAABB.mExtents, node->mAABB.mCenter)) return;
-
- TEST_BOX_IN_AABB(node->mAABB.mCenter, node->mAABB.mExtents)
-
- if(node->IsLeaf())
- {
- SET_CONTACT(node->GetPrimitive(), OPC_CONTACT)
- }
- else
- {
- _CollideNoPrimitiveTest(node->GetPos());
-
- if(ContactFound()) return;
-
- _CollideNoPrimitiveTest(node->GetNeg());
- }
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Recursive collision query for quantized AABB trees.
- * \param node [in] current collision node
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void AABBCollider::_Collide(const AABBQuantizedNode* node)
-{
- // Dequantize box
- const QuantizedAABB& Box = node->mAABB;
- const IcePoint Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z);
- const IcePoint Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z);
-
- // Perform AABB-AABB overlap test
- if(!AABBAABBOverlap(Extents, Center)) return;
-
- TEST_BOX_IN_AABB(Center, Extents)
-
- if(node->IsLeaf())
- {
- AABB_PRIM(node->GetPrimitive(), OPC_CONTACT)
- }
- else
- {
- _Collide(node->GetPos());
-
- if(ContactFound()) return;
-
- _Collide(node->GetNeg());
- }
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Recursive collision query for quantized AABB trees, without primitive tests.
- * \param node [in] current collision node
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void AABBCollider::_CollideNoPrimitiveTest(const AABBQuantizedNode* node)
-{
- // Dequantize box
- const QuantizedAABB& Box = node->mAABB;
- const IcePoint Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z);
- const IcePoint Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z);
-
- // Perform AABB-AABB overlap test
- if(!AABBAABBOverlap(Extents, Center)) return;
-
- TEST_BOX_IN_AABB(Center, Extents)
-
- if(node->IsLeaf())
- {
- SET_CONTACT(node->GetPrimitive(), OPC_CONTACT)
- }
- else
- {
- _CollideNoPrimitiveTest(node->GetPos());
-
- if(ContactFound()) return;
-
- _CollideNoPrimitiveTest(node->GetNeg());
- }
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Recursive collision query for no-leaf AABB trees.
- * \param node [in] current collision node
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void AABBCollider::_Collide(const AABBNoLeafNode* node)
-{
- // Perform AABB-AABB overlap test
- if(!AABBAABBOverlap(node->mAABB.mExtents, node->mAABB.mCenter)) return;
-
- TEST_BOX_IN_AABB(node->mAABB.mCenter, node->mAABB.mExtents)
-
- if(node->HasPosLeaf()) { AABB_PRIM(node->GetPosPrimitive(), OPC_CONTACT) }
- else _Collide(node->GetPos());
-
- if(ContactFound()) return;
-
- if(node->HasNegLeaf()) { AABB_PRIM(node->GetNegPrimitive(), OPC_CONTACT) }
- else _Collide(node->GetNeg());
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Recursive collision query for no-leaf AABB trees, without primitive tests.
- * \param node [in] current collision node
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void AABBCollider::_CollideNoPrimitiveTest(const AABBNoLeafNode* node)
-{
- // Perform AABB-AABB overlap test
- if(!AABBAABBOverlap(node->mAABB.mExtents, node->mAABB.mCenter)) return;
-
- TEST_BOX_IN_AABB(node->mAABB.mCenter, node->mAABB.mExtents)
-
- if(node->HasPosLeaf()) { SET_CONTACT(node->GetPosPrimitive(), OPC_CONTACT) }
- else _CollideNoPrimitiveTest(node->GetPos());
-
- if(ContactFound()) return;
-
- if(node->HasNegLeaf()) { SET_CONTACT(node->GetNegPrimitive(), OPC_CONTACT) }
- else _CollideNoPrimitiveTest(node->GetNeg());
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Recursive collision query for quantized no-leaf AABB trees.
- * \param node [in] current collision node
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void AABBCollider::_Collide(const AABBQuantizedNoLeafNode* node)
-{
- // Dequantize box
- const QuantizedAABB& Box = node->mAABB;
- const IcePoint Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z);
- const IcePoint Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z);
-
- // Perform AABB-AABB overlap test
- if(!AABBAABBOverlap(Extents, Center)) return;
-
- TEST_BOX_IN_AABB(Center, Extents)
-
- if(node->HasPosLeaf()) { AABB_PRIM(node->GetPosPrimitive(), OPC_CONTACT) }
- else _Collide(node->GetPos());
-
- if(ContactFound()) return;
-
- if(node->HasNegLeaf()) { AABB_PRIM(node->GetNegPrimitive(), OPC_CONTACT) }
- else _Collide(node->GetNeg());
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Recursive collision query for quantized no-leaf AABB trees, without primitive tests.
- * \param node [in] current collision node
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void AABBCollider::_CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node)
-{
- // Dequantize box
- const QuantizedAABB& Box = node->mAABB;
- const IcePoint Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z);
- const IcePoint Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z);
-
- // Perform AABB-AABB overlap test
- if(!AABBAABBOverlap(Extents, Center)) return;
-
- TEST_BOX_IN_AABB(Center, Extents)
-
- if(node->HasPosLeaf()) { SET_CONTACT(node->GetPosPrimitive(), OPC_CONTACT) }
- else _CollideNoPrimitiveTest(node->GetPos());
-
- if(ContactFound()) return;
-
- if(node->HasNegLeaf()) { SET_CONTACT(node->GetNegPrimitive(), OPC_CONTACT) }
- else _CollideNoPrimitiveTest(node->GetNeg());
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Recursive collision query for vanilla AABB trees.
- * \param node [in] current collision node
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void AABBCollider::_Collide(const AABBTreeNode* node)
-{
- // Perform AABB-AABB overlap test
- IcePoint Center, Extents;
- node->GetAABB()->GetCenter(Center);
- node->GetAABB()->GetExtents(Extents);
- if(!AABBAABBOverlap(Center, Extents)) return;
-
- if(node->IsLeaf() || AABBContainsBox(Center, Extents))
- {
- mFlags |= OPC_CONTACT;
- mTouchedPrimitives->Add(node->GetPrimitives(), node->GetNbPrimitives());
- }
- else
- {
- _Collide(node->GetPos());
- _Collide(node->GetNeg());
- }
-}
-
-
-
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Constructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-HybridAABBCollider::HybridAABBCollider()
-{
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Destructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-HybridAABBCollider::~HybridAABBCollider()
-{
-}
-
-bool HybridAABBCollider::Collide(AABBCache& cache, const CollisionAABB& box, const HybridModel& model)
-{
- // We don't want primitive tests here!
- mFlags |= OPC_NO_PRIMITIVE_TESTS;
-
- // Checkings
- if(!Setup(&model)) return false;
-
- // Init collision query
- if(InitQuery(cache, box)) return true;
-
- // Special case for 1-leaf trees
- if(mCurrentModel && mCurrentModel->HasSingleNode())
- {
- // Here we're supposed to perform a normal query, except our tree has a single node, i.e. just a few triangles
- udword Nb = mIMesh->GetNbTriangles();
-
- // Loop through all triangles
- for(udword i=0;i<Nb;i++)
- {
- AABB_PRIM(i, OPC_CONTACT)
- }
- return true;
- }
-
- // Override destination array since we're only going to get leaf boxes here
- mTouchedBoxes.Reset();
- mTouchedPrimitives = &mTouchedBoxes;
-
- // Now, do the actual query against leaf boxes
- if(!model.HasLeafNodes())
- {
- if(model.IsQuantized())
- {
- const AABBQuantizedNoLeafTree* Tree = (const AABBQuantizedNoLeafTree*)model.GetTree();
-
- // Setup dequantization coeffs
- mCenterCoeff = Tree->mCenterCoeff;
- mExtentsCoeff = Tree->mExtentsCoeff;
-
- // Perform collision query - we don't want primitive tests here!
- _CollideNoPrimitiveTest(Tree->GetNodes());
- }
- else
- {
- const AABBNoLeafTree* Tree = (const AABBNoLeafTree*)model.GetTree();
-
- // Perform collision query - we don't want primitive tests here!
- _CollideNoPrimitiveTest(Tree->GetNodes());
- }
- }
- else
- {
- if(model.IsQuantized())
- {
- const AABBQuantizedTree* Tree = (const AABBQuantizedTree*)model.GetTree();
-
- // Setup dequantization coeffs
- mCenterCoeff = Tree->mCenterCoeff;
- mExtentsCoeff = Tree->mExtentsCoeff;
-
- // Perform collision query - we don't want primitive tests here!
- _CollideNoPrimitiveTest(Tree->GetNodes());
- }
- else
- {
- const AABBCollisionTree* Tree = (const AABBCollisionTree*)model.GetTree();
-
- // Perform collision query - we don't want primitive tests here!
- _CollideNoPrimitiveTest(Tree->GetNodes());
- }
- }
-
- // We only have a list of boxes so far
- if(GetContactStatus())
- {
- // Reset contact status, since it currently only reflects collisions with leaf boxes
- Collider::InitQuery();
-
- // Change dest container so that we can use built-in overlap tests and get collided primitives
- cache.TouchedPrimitives.Reset();
- mTouchedPrimitives = &cache.TouchedPrimitives;
-
- // Read touched leaf boxes
- udword Nb = mTouchedBoxes.GetNbEntries();
- const udword* Touched = mTouchedBoxes.GetEntries();
-
- const LeafTriangles* LT = model.GetLeafTriangles();
- const udword* Indices = model.GetIndices();
-
- // Loop through touched leaves
- while(Nb--)
- {
- const LeafTriangles& CurrentLeaf = LT[*Touched++];
-
- // Each leaf box has a set of triangles
- udword NbTris = CurrentLeaf.GetNbTriangles();
- if(Indices)
- {
- const udword* T = &Indices[CurrentLeaf.GetTriangleIndex()];
-
- // Loop through triangles and test each of them
- while(NbTris--)
- {
- udword TriangleIndex = *T++;
- AABB_PRIM(TriangleIndex, OPC_CONTACT)
- }
- }
- else
- {
- udword BaseIndex = CurrentLeaf.GetTriangleIndex();
-
- // Loop through triangles and test each of them
- while(NbTris--)
- {
- udword TriangleIndex = BaseIndex++;
- AABB_PRIM(TriangleIndex, OPC_CONTACT)
- }
- }
- }
- }
-
- return true;
-}
|